RobWorkProject
21.8.23

Abstraction over a constraint solver for dynamics simulations. More...
#include <ConstraintSolver.hpp>
Inherited by SequintialImpulseSolver.
Public Member Functions  
virtual  ~ConstraintSolver () 
destructor  
virtual bool  solve (std::vector< CEdgeGroup > &groups, SolverInfo &info, rw::kinematics::State &state) 
solves the constraints forces of multiple groups of constraints More...  
virtual bool  solveGroup (CEdgeGroup &group, SolverInfo &info, rw::kinematics::State &state)=0 
solves the constraints forces of a group of constraints More...  
Protected Member Functions  
ConstraintSolver ()  
constructor  
Abstraction over a constraint solver for dynamics simulations.
The constraint solver changes forces, velocities and/or position to correct constraints between objects in a scene. Most commonly contact constraints and especially multiple coupled contact constraints are handled.

virtual 
solves the constraints forces of multiple groups of constraints

pure virtual 
solves the constraints forces of a group of constraints
Implemented in SequintialImpulseSolver.